Neural Radiance Fields (NeRF)-based SLAM has demonstrated impressive results in small-scale scene reconstruction, yet scaling these methods to extensive, complex environments remains challenging due to catastrophic forgetting and accumulated trajectory drift. This paper presents a robust, large-scale neural SLAM system featuring a multi-submap architecture and a dual-tier loop closure mechanism. Specifically, we propose a progressive mapping strategy that dynamically allocates neural submaps to maintain high-fidelity representations without memory explosion. For robust pose estimation, an optical-flow-based tracking module is integrated to handle aggressive motions. To address global consistency, we introduce a local-to-global loop closure framework leveraging the foundation model for high-performance global descriptor extraction, significantly enhancing relocalization accuracy under varying viewpoints. Furthermore, an inter-submap online distillation algorithm is designed during back-end optimization to enforce geometric and appearance consistency across overlapping submap boundaries. To validate the system, we developed a customized handheld mechatronic platform and conducted extensive evaluations on both public benchmarks and our large-scale indoor-outdoor datasets. Experimental results, including direct deployment on an onboard computing unit, demonstrate that our approach outperforms state-of-the-art neural SLAM methods in reconstruction quality and localization robustness, providing a scalable solution for real-world robotic perception and digital twinning. We will release the code publicly on \href{https://github.com/dtc111111/MSN-SLAM}{https://github.com/dtc111111/MSN-SLAM} .
Neural Radiance Fields (NeRF) have revolutionized novel view synthesis, yet their classical implementations remain computationally intensive for high-fidelity rendering. QNeRF recently demonstrated the feasibility of training NeRF on gate-based quantum computers by combining amplitude embedding, parameterized quantum circuits (PQCs), parity-based measurements, and volumetric rendering. However, QNeRF relies on classical sinusoidal positional encoding for spatial coordinates, which scales poorly with scene complexity and resolution. In this work, we replace the sinusoidal positional encoding for spatial coordinates with the multiresolution hash encoding from Instant-NGP while keeping the view-direction encoding, amplitude MLP, quantum circuit, parity measurement, output scaling, and volumetric rendering pipeline unchanged. This hybrid design, Hash-QNeRF, retains the quantum radiance prediction step while benefiting from the fast convergence and memory efficiency of learnable hash grids. On a synthetic Blender scene, we achieve a final training loss of 0.003534, corresponding to approximately 24.5 dB PSNR on the fitted batch. Noise resilience experiments using Qiskit FakeKyiv and FakeTorino backends yield state fidelities of 0.93 to 0.98, indicating that hash encoding does not degrade the quantum circuit's noise tolerance.